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One of the first things I tried to do with the Breaking Ground is make a quadrupedal robot in a similar fashion to BostonDynamics SpotMini. It... works. Barely This version has a "Stand" and "Walk" function, with work-in-progress "Sprint" function. It's almost uncontrollable without reaction wheels, but that's likely due to poor programming on my part, of which was a pain to do. The main issue with this style of quadruped that I found is that the servos don't move quick enough to get any decent speed from it, though it does still work. Here is a video showing it walking: https://youtu.be/QLtOllMOOuU The craft file can be found here: https://steamcommunity.com/sharedfiles/filedetails/?id=1769266564 If anyone can make it work better, I'd love to see it!